基于RT-Thread和STM32的双轮自平衡机器人的设计与实现

发布时间：2019-01-29 05:37

【摘要】：随着计算机技术和信息技术的高速发展,嵌入式实时操作系统的开发及其应用已经成为当今热门技术之一。嵌入式操作系统是以应用为中心,软硬件可剪裁的,适用于对可靠性、功能、体积、成本、功耗等综合性严格要求的专用计算机系统,具有软件代码小、高度自动化、响应快速等特点,已经广泛应用于通信、军事、航空、航天等高尖端技术及实时性和多任务要求比较高的领域中。本文对基于RT-Thread和STM32的双轮自平衡小车进行了研究:分析了RT-Thread的整体架构和特性,研究了其任务之间的通信方式,并实现对硬件设备的驱动;设计并制作基于STM32控制器的嵌入式平衡小车硬件平台,包括主控制板、电源、电机驱动、姿态传感器和无线控制等硬件模块,并将RT-Thread移植到该平台上,设计了对各个硬件模块的驱动程序和系统整体应用任务;最后设计了机器人的PID算法,并对其参数进行调试和整定,实现了两轮平衡机器人的平稳直立和行走。基于RT-Thread实时操作系统和STM32的双轮自平衡小车实验结果表明:实时操作系统RT-Thread具有良好的实时性,能长时间稳定运行;MPU5060 DMP姿态解算算法具有良好的动态特性,为小车的平稳运行提供了高精度的姿态信息。本文完成了对RT-Thread操作系统在两轮平衡小车系统上的应用研究,系统运行良好,具有较高的稳定度和实时响应能力,对RT-Thread操作系统在嵌入式控制领域有一定的指导作用。
[Abstract]:With the rapid development of computer technology and information technology, the development and application of embedded real-time operating system has become one of the most popular technologies. Embedded operating system is an application-centered, hardware and software can be tailored, suitable for reliability, function, volume, cost, power consumption and other comprehensive and strict requirements of the special computer system, with small software code, a high degree of automation, Rapid response has been widely used in communications, military, aviation, aerospace and other high-technology, real-time and multi-task requirements in the field. In this paper, the two-wheel self-balancing vehicle based on RT-Thread and STM32 is studied: the whole structure and characteristics of RT-Thread are analyzed, the communication mode between its tasks is studied, and the driver of hardware device is realized. The hardware platform of embedded balancing vehicle based on STM32 controller is designed and fabricated, including main control board, power supply, motor drive, attitude sensor and wireless control, and the RT-Thread is transplanted to the platform. The driver of each hardware module and the whole application task of the system are designed. Finally, the PID algorithm of the robot is designed, and its parameters are debugged and adjusted to realize the steady upright and walking of the two-wheel balanced robot. The experimental results of a two-wheel self-balancing vehicle based on RT-Thread real-time operating system and STM32 show that the real-time operating system RT-Thread has good real-time performance and can run stably for a long time. The MPU5060 DMP attitude resolution algorithm has good dynamic characteristics and provides high precision attitude information for the smooth operation of the vehicle. This paper has completed the research on the application of RT-Thread operating system on the two-wheel-balanced trolley system. The system runs well and has high stability and real-time response ability. It has a certain guiding role for the RT-Thread operating system in the field of embedded control.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

【参考文献】